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NVIDIA-ISAAC-ROS / isaac_ros_argus_camera

ROS 2 packages based on NVIDIA libArgus library for NVIDIA-accelerated CSI camera support.
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
64 stars 12 forks source link

Performance issues and network packet loss #37

Closed muttistefano closed 6 months ago

muttistefano commented 6 months ago

Hi all, i know from other posts that there are performance issues related to some cameras but i opened this issues to underline some behaviors.

I am using this node with an IMX219 camera and running only the argus_mono node.

When i subscribe the image_raw topic on the jetson machine, i initially lose all the messages and all the CPUs cap at 100% for some seconds, then it starts working well, hence i see the messages and cpu go normal. When i try to subscribe to the image_raw topic on an x86 machine on the network, i don't see the CPU usage spike, but the more i stay subscribed the more messages i lose., up to a point where i lose all messages. I'm currently publishing a 1280x720 30fps image in rgb8 as converted in the argus camera node. I don't have a firewall on both computers. Is this still related to the performance issues or there is something else going on? Do i have to build some interfaces on the x86 machine in order to communicate? Thanks

muttistefano commented 6 months ago

I guess having the image_raw published as RELIABLE has implications into the problems mentioned. I'm going to check if it's the case and report back.

muttistefano commented 6 months ago

I changed the Qos to rclcpp:: SensorDataQoS() in the camera node which seemed more reasonable. Furthermore i found out the network problems come from the wifi card of the Jetson Orin NX, which loses an incredible number of packets in 5G, while in 2.5G works well.